EgoViz-120

Real-world egocentric data recorded on the job: egocentric and wrist video, depth, IMU, hand pose and frame-level action labels in one MCAP per clip. Free to use with attribution.

120.4 h5,392 clips12 categories7.3 TBCC-BY-4.0

Categories12

Mopping floor1,595 clips · 56.8 h

Wiping surfaces777 clips · 14.7 h

Preparing food541 clips · 13.4 h

Preparing cleaning supplies clip preview

Preparing cleaning supplies790 clips · 8.5 h

Cleaning restroom332 clips · 5.7 h

Cleaning windows172 clips · 4.3 h

Organizing items279 clips · 3.8 h

Sweeping floor159 clips · 3.4 h

Cooking food193 clips · 2.8 h

Managing laundry210 clips · 2.5 h

Managing trash208 clips · 2.2 h

Cleaning kitchen136 clips · 2.1 h

Browse all clips

140 clips

Skill: scrape Clear all

Cleaning kitchen0:36

Cleaning kitchen counter

1 action4 skillsMCAP 548 MB

Cleaning windows12:00

Cleaning windows with pole

105 actions40 skillsMCAP 11.6 GB

Cooking food12:31

Peeling carrots

93 actions17 skillsMCAP 13.2 GB

Managing laundry0:34

Cleaning dryer lint filters

3 actions10 skillsMCAP 588 MB

Managing trash2:11

Collecting and sorting food waste

21 actions31 skillsMCAP 2.1 GB

Mopping floor11:47

Mopping classroom floor

45 actions20 skillsMCAP 13.2 GB

Organizing items1:35

Removing cleaning items from restroom

13 actions24 skillsMCAP 1.2 GB

Preparing cleaning supplies1:13

Preparing mop for floor cleaning

9 actions11 skillsMCAP 1.3 GB

Preparing food24:00

Slicing onions on cutting board

173 actions22 skillsMCAP 21.8 GB

Sweeping floor6:44

Sweeping floor with brush

52 actions25 skillsMCAP 6.0 GB

Cleaning windows3:41

Cleaning glass windows

32 actions13 skillsMCAP 4.2 GB

Cooking food4:21

Stirring ingredients in a pot

35 actions39 skillsMCAP 3.9 GB

Managing trash0:17

Picking up debris from floor

3 actions6 skillsMCAP 272 MB

Mopping floor2:10

Mopping hallway floor

16 actions14 skillsMCAP 1.9 GB

Preparing cleaning supplies0:23

Changing mop head

3 actions9 skillsMCAP 309 MB

Preparing food14:50

Preparing onions on cutting board

116 actions17 skillsMCAP 13.9 GB

Sweeping floor1:36

Sweeping and collecting debris from ground

15 actions6 skillsMCAP 1.7 GB

Cleaning windows2:43

Cleaning windows

23 actions36 skillsMCAP 2.9 GB

Cooking food3:05

Adding ingredients and stirring food

28 actions18 skillsMCAP 3.1 GB

Mopping floor2:35

Mopping tiled floor

12 actions10 skillsMCAP 2.2 GB

Preparing food18:00

Peeling potatoes

114 actions8 skillsMCAP 19.3 GB

Sweeping floor1:16

Sweeping floor

7 actions14 skillsMCAP 1.2 GB

Cleaning windows1:11

Cleaning glass panels with squeegee

10 actions10 skillsMCAP 1.2 GB

Cooking food1:34

Preparing ingredients and cooking

18 actions22 skillsMCAP 1.5 GB

In every MCAP

23 channels · one clock · ROS 2

MCAP topics, message schemas and rates
Topic	Schema	Rate
/action	tad_msgs/msg/ActionPhase	30 Hz
/ego/zed_head/depth/camera_info	sensor_msgs/msg/CameraInfo	30 Hz
/ego/zed_head/depth/image/compressed	sensor_msgs/msg/CompressedImage	30 Hz
/ego/zed_head/imu/data	sensor_msgs/msg/Imu	199.8 Hz
/ego/zed_head/left/camera_info	sensor_msgs/msg/CameraInfo	30 Hz
/ego/zed_head/left/image/compressed	foxglove.CompressedVideo	30 Hz
/ego/zed_head/odom	nav_msgs/msg/Odometry	30 Hz
/ego/zed_head/right/camera_info	sensor_msgs/msg/CameraInfo	30 Hz
/ego/zed_head/right/image/compressed	foxglove.CompressedVideo	30 Hz
/hands/left/detected	std_msgs/msg/Bool	30 Hz
/hands/left/keypoints	visualization_msgs/msg/MarkerArray	30 Hz
/hands/left/odom	nav_msgs/msg/Odometry	30 Hz
/hands/right/detected	std_msgs/msg/Bool	30 Hz
/hands/right/keypoints	visualization_msgs/msg/MarkerArray	30 Hz
/hands/right/odom	nav_msgs/msg/Odometry	30 Hz
/tf	tf2_msgs/msg/TFMessage	30 Hz
/tf_static	tf2_msgs/msg/TFMessage	2.9 Hz
/wrist_left/image/camera_info	sensor_msgs/msg/CameraInfo	30 Hz
/wrist_left/image/compressed	foxglove.CompressedVideo	30 Hz
/wrist_left/imu/data	sensor_msgs/msg/Imu	199.4 Hz
/wrist_right/image/camera_info	sensor_msgs/msg/CameraInfo	30 Hz
/wrist_right/image/compressed	foxglove.CompressedVideo	30 Hz
/wrist_right/imu/data	sensor_msgs/msg/Imu	200 Hz

Get the data

EgoViz-120 is 7.3 TB, served from a public Hugging Face Storage Bucket. Start with the index: one row per clip with category, title, skills, objects and paths, before you download any video.

Install and index

pip install -U huggingface_hub
hf auth login

B=hf://buckets/humaidtech/EgoViz-120
hf buckets cp $B/index.parquet index.parquet

One category

hf sync $B/data/cleaning_kitchen ./cleaning_kitchen

Previews and metadata only

hf sync $B/data ./egoviz --include "*.mp4" --include "*.json"

Cite

@misc{egoviz120_2026,
  title        = {EgoViz-120: 120 Hours of Synchronized Real-World Egocentric Data},
  author       = {Humaid Tech Inc.},
  year         = {2026},
  publisher    = {Hugging Face},
  howpublished = {\url{https://huggingface.co/datasets/humaidtech/EgoViz-120}}
}